From 6cdd188158bc4ec2d5bfa3c941c2b4608a1f169d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 6 Nov 2016 15:00:43 -0500
Subject: [PATCH] geofence max horz/vertical better messages

---
 src/modules/navigator/geofence.cpp      | 18 ++++++++++--------
 src/modules/navigator/geofence_params.c |  1 +
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index 482081089fb7..5fff22bae19f 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -131,10 +131,12 @@ bool Geofence::inside(const struct mission_item_s &mission_item)
 
 bool Geofence::inside(double lat, double lon, float altitude)
 {
+	bool inside_fence = true;
+
 	float max_horizontal_distance = _param_max_hor_distance.get();
 	float max_vertical_distance = _param_max_ver_distance.get();
 
-	if (max_horizontal_distance > 1 || max_vertical_distance > 1) {
+	if (max_horizontal_distance > 1.0f || max_vertical_distance > 1.0f) {
 		if (_home_pos_set) {
 			float dist_xy = -1.0f;
 			float dist_z = -1.0f;
@@ -142,31 +144,31 @@ bool Geofence::inside(double lat, double lon, float altitude)
 							   _home_pos.lat, _home_pos.lon, _home_pos.alt,
 							   &dist_xy, &dist_z);
 
-			if (max_vertical_distance > 0 && (dist_z > max_vertical_distance)) {
+			if (max_vertical_distance > 1.0f && (dist_z > max_vertical_distance)) {
 				if (hrt_elapsed_time(&_last_vertical_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
 					mavlink_log_critical(_navigator->get_mavlink_log_pub(),
-							     "Geofence exceeded max vertical distance by %.1f m",
+							     "Maximum altitude above home exceeded by %.1f m",
 							     (double)(dist_z - max_vertical_distance));
 					_last_vertical_range_warning = hrt_absolute_time();
 				}
 
-				return false;
+				inside_fence = false;
 			}
 
-			if (max_horizontal_distance > 0 && (dist_xy > max_horizontal_distance)) {
+			if (max_horizontal_distance > 1.0f && (dist_xy > max_horizontal_distance)) {
 				if (hrt_elapsed_time(&_last_horizontal_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
 					mavlink_log_critical(_navigator->get_mavlink_log_pub(),
-							     "Geofence exceeded max horizontal distance by %.1f m",
+							     "Maximum distance from home exceeded by %.1f m",
 							     (double)(dist_xy - max_horizontal_distance));
 					_last_horizontal_range_warning = hrt_absolute_time();
 				}
 
-				return false;
+				inside_fence = false;
 			}
 		}
 	}
 
-	bool inside_fence = inside_polygon(lat, lon, altitude);
+	inside_fence |= inside_polygon(lat, lon, altitude);
 
 	if (inside_fence) {
 		_outside_counter = 0;
diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c
index 246d1878e5f0..cc8da03ff1d6 100644
--- a/src/modules/navigator/geofence_params.c
+++ b/src/modules/navigator/geofence_params.c
@@ -58,6 +58,7 @@
  * @value 1 Warning
  * @value 2 Loiter
  * @value 3 Return to Land
+ * @value 4 Flight terminate
  * @group Geofence
  */
 PARAM_DEFINE_INT32(GF_ACTION, 1);